sudo apt-get install ros-"groovy o hydro"-pocketsphinx

sudo apt-get install gstreamer0.10-pocketsphinx

svn checkout http://albany-ros-pkg.googlecode.com/svn/trunk/rharmony
rosmake --rosdep-install pocketsphinx

start speech
stop speech
go forward
go back
turn left
turn right
speed up
slow down
rotate left
rotate right
stop
point beer
point cocacola
fold arm

<launch>

  <node name="recognizer" pkg="pocketsphinx" type="recognizer.py" output="screen">
    <param name="lm" value="$(find voz_fer)/config/comandos.lm"/>
    <param name="dict" value="$(find voz_fer)/config/comandos.dic"/>
  </node>
  
</launch>

roslaunch voz_fer comandos_voz.launch

rostopic echo recognizer/output

Sound 	builtinSound (int id)
 	Create a builtin Sound.
void 	play (int sound)
 	Play a buildin sound.
void 	playWave (const std::string &s)
 	Plays a WAV or OGG file.
void 	repeat (const std::string &s)
 	Say a string repeatedly.
void 	say (const std::string &s, const std::string &voice="voice_kal_diphone")
 	Say a string.
void 	setQuiet (bool state)
 	Turns warning messages on or off.
 	SoundClient (ros::NodeHandle &nh, const std::string &topic)
 	Create a SoundClient that publishes on the given topic.
 	SoundClient ()
 	Create a SoundClient with the default topic.
void 	start (int sound)
 	Play a buildin sound repeatedly.
void 	startWave (const std::string &s)
 	Plays a WAV or OGG file repeatedly.
void 	stop (int sound)
 	Stop playing a built-in sound.
void 	stopAll ()
 	Stop all currently playing sounds.
void 	stopSaying (const std::string &s)
 	Stop saying a string.
void 	stopWave (const std::string &s)
 	Stop playing a WAV or OGG file.
Sound 	voiceSound (const std::string &s)
 	Create a voice Sound.
Sound 	waveSound (const std::string &s)

  #include "std_msgs/Int16.h"
  #include "std_msgs/String.h"
  #include "geometry_msgs/Twist.h"
  #include "sound_play/sound_play.h"
 
  int inicio = 0;
  int rotate = 0;
  int turn = 0;
  int start = 0;
  int stop = 1;
  float linear_vel = 0.0;
  float angular_vel = 0.0;
  std_msgs::String comando_voz;  
 
  void sleepok(int t, ros::NodeHandle &n)
  {
       if (n.ok())
               sleep(t);
  } 
 
  void speech(const std_msgs::String& voz)
  {
	::comando_voz = voz;
	
	ros::NodeHandle n;	
       
	ros::Publisher object_pub_=n.advertise<std_msgs::Int16>("selected_object", 1); 
        
	ros::Publisher move_base_pub_=n.advertise<geometry_msgs::Twist>("cmd_vel", 1); 
	

	
	std_msgs::Int16 objeto;
	geometry_msgs::Twist mover_base;
	      
	if (::comando_voz.data == "start speech")
	{
		inicio = 1;
				
	}
	else if (::comando_voz.data == "stop speech")
	{
		inicio = 0;
				
	}
	else if (inicio == 1)
	{
		if (::comando_voz.data == "stop")
		{
			::linear_vel = 0.0;
			::angular_vel = 0.0;
			
		}
		else if (::comando_voz.data == "go forward")
		{
			
			::linear_vel = 0.1;
			::angular_vel = 0.0;
			
		}
		else if (::comando_voz.data == "go back")
		{
			
			::linear_vel = -0.1;
			::angular_vel = 0.0;
			
		}	
		else if (::comando_voz.data == "turn left")
		{
			if (::angular_vel <= 0 || ::rotate == 1)
			{
				::angular_vel = 0.1;
				
				::rotate = 0;
				::turn = 1;					
			}
			else
			{
			
				::angular_vel = ::angular_vel + 0.1;

			}
		}
		else if (::comando_voz.data == "turn right")
		{
			if (::angular_vel >= 0 || ::rotate == 1)
			{
				::angular_vel = -0.1;
				
				::rotate = 0;
				::turn = 1;				
			}
			else
			{
		
			         ::angular_vel = ::angular_vel - 0.1;

			}
		}
		else if (::comando_voz.data == "rotate left")
		{
			if (::angular_vel <= 0 || ::turn == 1)
			{
				::angular_vel = 0.1;
				
				::turn = 0;
				::rotate = 1;
			}
			
			::linear_vel = 0.0;
			
		}
		else if (::comando_voz.data == "rotate right")
		{
			if (::angular_vel >= 0 || ::turn == 1)
			{
				::angular_vel = -0.1;
				
				::turn = 0;
				::rotate = 1;				
			}
			
			::linear_vel = 0.0;

		}		
		else if (::comando_voz.data == "speed up")				
		{
			if (::linear_vel == 0)
			{
				if (::angular_vel > 0 && ::rotate == 1)
				{
					::angular_vel= ::angular_vel + 0.05;
				}
				else if (::rotate == 1)
				{
					::angular_vel = ::angular_vel - 0.05;
				}			
			}
			else
			{
				if (::linear_vel > 0)
				{
					::linear_vel = ::linear_vel + 0.05;
				}
				else
				{
					::linear_vel = ::linear_vel - 0.05;
				}
			}
		}
		else if (::comando_voz.data == "slow down")				
		{
			if (::linear_vel == 0)
			{
				if (::angular_vel > 0 && ::rotate == 1)
				{
					::angular_vel = ::angular_vel - 0.05;
				}
				else if (::rotate == 1)
				{
					::angular_vel = ::angular_vel + 0.05;
				}					
			}
			else
			{
				if (::linear_vel > 0)
				{
					::linear_vel = ::linear_vel - 0.05;
				}
				else
				{
					::linear_vel = ::linear_vel + 0.05;
				}			
			}
		}
		else if (::comando_voz.data == "point beer")
		{
			objeto.data = 1;
			
			object_pub_.publish(objeto);
		}
		else if (::comando_voz.data == "point cocacola")
		{
			objeto.data = 2;
			
			object_pub_.publish(objeto);
		}
		else if (::comando_voz.data == "fold arm")
		{
			objeto.data = 100;
			
			object_pub_.publish(objeto);
		}													
	}
  }
      
  int main(int argc, char **argv)
  {
         
        ros::init(argc, argv, "control_voz");  
 
        ros::NodeHandle n;
 
        ros::Subscriber speech_sub_= n.subscribe("/recognizer/output", 1, speech);
       
        ros::Publisher object_pub_=n.advertise<std_msgs::Int16>("selected_object", 1); 
        
        ros::Publisher move_base_pub_=n.advertise<geometry_msgs::Twist>("cmd_vel", 1);
	      
        
        ros::Rate loop_rate(10);
        
        geometry_msgs::Twist mover_base;
        
        sound_play::SoundClient voz_robot;
        
		sleepok(1, n);        
        
        while (ros::ok())
        {		
			mover_base.linear.x = ::linear_vel;
			mover_base.angular.z = ::angular_vel; 
			
			move_base_pub_.publish(mover_base);
			
			if (::comando_voz.data == "start speech" && ::start == 0)
			{
				voz_robot.say("bep bep. I am listening you");
				
				sleepok(4, n);
				
				::start = 1;
				::stop = 0;
			}
			else if (::comando_voz.data == "stop speech" && ::stop == 0)
			{
				voz_robot.say("bep bep. I stop listening");
				
				sleepok(4, n);
				
				::stop = 1;
				::start = 0;
			}			
			
			ros::spinOnce();
	
			loop_rate.sleep();			
        
		}                     
       
        ros::spin();  
 
        return 0;
  }

rosbuild_add_executable(control_voz src/control_voz.cpp)

roscd voz_fer
make

<launch>

  <include file="$(find voz_fer)/launch/comandos_voz.launch"/>

  <node name="soundplay_node" pkg="sound_play" type="soundplay_node.py"/>  

  <node name="control_voz" pkg="voz_fer" type="control_voz" />

  <include file="$(find brazo_fer)/launch/escoja.launch"/>
  
</launch>

roslaunch voz_fer control_voz.launch